You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
201 lines
8.7 KiB
201 lines
8.7 KiB
// MESSAGE GPS_STATUS PACKING |
|
|
|
#define MAVLINK_MSG_ID_GPS_STATUS 27 |
|
|
|
typedef struct __mavlink_gps_status_t |
|
{ |
|
uint8_t satellites_visible; ///< Number of satellites visible |
|
int8_t satellite_prn[20]; ///< Global satellite ID |
|
int8_t satellite_used[20]; ///< 0: Satellite not used, 1: used for localization |
|
int8_t satellite_elevation[20]; ///< Elevation (0: right on top of receiver, 90: on the horizon) of satellite |
|
int8_t satellite_azimuth[20]; ///< Direction of satellite, 0: 0 deg, 255: 360 deg. |
|
int8_t satellite_snr[20]; ///< Signal to noise ratio of satellite |
|
|
|
} mavlink_gps_status_t; |
|
|
|
#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_PRN_LEN 20 |
|
#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_USED_LEN 20 |
|
#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_ELEVATION_LEN 20 |
|
#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_AZIMUTH_LEN 20 |
|
#define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_SNR_LEN 20 |
|
|
|
|
|
/** |
|
* @brief Pack a gps_status message |
|
* @param system_id ID of this system |
|
* @param component_id ID of this component (e.g. 200 for IMU) |
|
* @param msg The MAVLink message to compress the data into |
|
* |
|
* @param satellites_visible Number of satellites visible |
|
* @param satellite_prn Global satellite ID |
|
* @param satellite_used 0: Satellite not used, 1: used for localization |
|
* @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite |
|
* @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg. |
|
* @param satellite_snr Signal to noise ratio of satellite |
|
* @return length of the message in bytes (excluding serial stream start sign) |
|
*/ |
|
static inline uint16_t mavlink_msg_gps_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t satellites_visible, const int8_t* satellite_prn, const int8_t* satellite_used, const int8_t* satellite_elevation, const int8_t* satellite_azimuth, const int8_t* satellite_snr) |
|
{ |
|
uint16_t i = 0; |
|
msg->msgid = MAVLINK_MSG_ID_GPS_STATUS; |
|
|
|
i += put_uint8_t_by_index(satellites_visible, i, msg->payload); // Number of satellites visible |
|
i += put_array_by_index(satellite_prn, 20, i, msg->payload); // Global satellite ID |
|
i += put_array_by_index(satellite_used, 20, i, msg->payload); // 0: Satellite not used, 1: used for localization |
|
i += put_array_by_index(satellite_elevation, 20, i, msg->payload); // Elevation (0: right on top of receiver, 90: on the horizon) of satellite |
|
i += put_array_by_index(satellite_azimuth, 20, i, msg->payload); // Direction of satellite, 0: 0 deg, 255: 360 deg. |
|
i += put_array_by_index(satellite_snr, 20, i, msg->payload); // Signal to noise ratio of satellite |
|
|
|
return mavlink_finalize_message(msg, system_id, component_id, i); |
|
} |
|
|
|
/** |
|
* @brief Pack a gps_status message |
|
* @param system_id ID of this system |
|
* @param component_id ID of this component (e.g. 200 for IMU) |
|
* @param chan The MAVLink channel this message was sent over |
|
* @param msg The MAVLink message to compress the data into |
|
* @param satellites_visible Number of satellites visible |
|
* @param satellite_prn Global satellite ID |
|
* @param satellite_used 0: Satellite not used, 1: used for localization |
|
* @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite |
|
* @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg. |
|
* @param satellite_snr Signal to noise ratio of satellite |
|
* @return length of the message in bytes (excluding serial stream start sign) |
|
*/ |
|
static inline uint16_t mavlink_msg_gps_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t satellites_visible, const int8_t* satellite_prn, const int8_t* satellite_used, const int8_t* satellite_elevation, const int8_t* satellite_azimuth, const int8_t* satellite_snr) |
|
{ |
|
uint16_t i = 0; |
|
msg->msgid = MAVLINK_MSG_ID_GPS_STATUS; |
|
|
|
i += put_uint8_t_by_index(satellites_visible, i, msg->payload); // Number of satellites visible |
|
i += put_array_by_index(satellite_prn, 20, i, msg->payload); // Global satellite ID |
|
i += put_array_by_index(satellite_used, 20, i, msg->payload); // 0: Satellite not used, 1: used for localization |
|
i += put_array_by_index(satellite_elevation, 20, i, msg->payload); // Elevation (0: right on top of receiver, 90: on the horizon) of satellite |
|
i += put_array_by_index(satellite_azimuth, 20, i, msg->payload); // Direction of satellite, 0: 0 deg, 255: 360 deg. |
|
i += put_array_by_index(satellite_snr, 20, i, msg->payload); // Signal to noise ratio of satellite |
|
|
|
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
|
} |
|
|
|
/** |
|
* @brief Encode a gps_status struct into a message |
|
* |
|
* @param system_id ID of this system |
|
* @param component_id ID of this component (e.g. 200 for IMU) |
|
* @param msg The MAVLink message to compress the data into |
|
* @param gps_status C-struct to read the message contents from |
|
*/ |
|
static inline uint16_t mavlink_msg_gps_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_status_t* gps_status) |
|
{ |
|
return mavlink_msg_gps_status_pack(system_id, component_id, msg, gps_status->satellites_visible, gps_status->satellite_prn, gps_status->satellite_used, gps_status->satellite_elevation, gps_status->satellite_azimuth, gps_status->satellite_snr); |
|
} |
|
|
|
/** |
|
* @brief Send a gps_status message |
|
* @param chan MAVLink channel to send the message |
|
* |
|
* @param satellites_visible Number of satellites visible |
|
* @param satellite_prn Global satellite ID |
|
* @param satellite_used 0: Satellite not used, 1: used for localization |
|
* @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite |
|
* @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg. |
|
* @param satellite_snr Signal to noise ratio of satellite |
|
*/ |
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
|
|
|
static inline void mavlink_msg_gps_status_send(mavlink_channel_t chan, uint8_t satellites_visible, const int8_t* satellite_prn, const int8_t* satellite_used, const int8_t* satellite_elevation, const int8_t* satellite_azimuth, const int8_t* satellite_snr) |
|
{ |
|
mavlink_message_t msg; |
|
mavlink_msg_gps_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr); |
|
mavlink_send_uart(chan, &msg); |
|
} |
|
|
|
#endif |
|
// MESSAGE GPS_STATUS UNPACKING |
|
|
|
/** |
|
* @brief Get field satellites_visible from gps_status message |
|
* |
|
* @return Number of satellites visible |
|
*/ |
|
static inline uint8_t mavlink_msg_gps_status_get_satellites_visible(const mavlink_message_t* msg) |
|
{ |
|
return (uint8_t)(msg->payload)[0]; |
|
} |
|
|
|
/** |
|
* @brief Get field satellite_prn from gps_status message |
|
* |
|
* @return Global satellite ID |
|
*/ |
|
static inline uint16_t mavlink_msg_gps_status_get_satellite_prn(const mavlink_message_t* msg, int8_t* r_data) |
|
{ |
|
|
|
memcpy(r_data, msg->payload+sizeof(uint8_t), 20); |
|
return 20; |
|
} |
|
|
|
/** |
|
* @brief Get field satellite_used from gps_status message |
|
* |
|
* @return 0: Satellite not used, 1: used for localization |
|
*/ |
|
static inline uint16_t mavlink_msg_gps_status_get_satellite_used(const mavlink_message_t* msg, int8_t* r_data) |
|
{ |
|
|
|
memcpy(r_data, msg->payload+sizeof(uint8_t)+20, 20); |
|
return 20; |
|
} |
|
|
|
/** |
|
* @brief Get field satellite_elevation from gps_status message |
|
* |
|
* @return Elevation (0: right on top of receiver, 90: on the horizon) of satellite |
|
*/ |
|
static inline uint16_t mavlink_msg_gps_status_get_satellite_elevation(const mavlink_message_t* msg, int8_t* r_data) |
|
{ |
|
|
|
memcpy(r_data, msg->payload+sizeof(uint8_t)+20+20, 20); |
|
return 20; |
|
} |
|
|
|
/** |
|
* @brief Get field satellite_azimuth from gps_status message |
|
* |
|
* @return Direction of satellite, 0: 0 deg, 255: 360 deg. |
|
*/ |
|
static inline uint16_t mavlink_msg_gps_status_get_satellite_azimuth(const mavlink_message_t* msg, int8_t* r_data) |
|
{ |
|
|
|
memcpy(r_data, msg->payload+sizeof(uint8_t)+20+20+20, 20); |
|
return 20; |
|
} |
|
|
|
/** |
|
* @brief Get field satellite_snr from gps_status message |
|
* |
|
* @return Signal to noise ratio of satellite |
|
*/ |
|
static inline uint16_t mavlink_msg_gps_status_get_satellite_snr(const mavlink_message_t* msg, int8_t* r_data) |
|
{ |
|
|
|
memcpy(r_data, msg->payload+sizeof(uint8_t)+20+20+20+20, 20); |
|
return 20; |
|
} |
|
|
|
/** |
|
* @brief Decode a gps_status message into a struct |
|
* |
|
* @param msg The message to decode |
|
* @param gps_status C-struct to decode the message contents into |
|
*/ |
|
static inline void mavlink_msg_gps_status_decode(const mavlink_message_t* msg, mavlink_gps_status_t* gps_status) |
|
{ |
|
gps_status->satellites_visible = mavlink_msg_gps_status_get_satellites_visible(msg); |
|
mavlink_msg_gps_status_get_satellite_prn(msg, gps_status->satellite_prn); |
|
mavlink_msg_gps_status_get_satellite_used(msg, gps_status->satellite_used); |
|
mavlink_msg_gps_status_get_satellite_elevation(msg, gps_status->satellite_elevation); |
|
mavlink_msg_gps_status_get_satellite_azimuth(msg, gps_status->satellite_azimuth); |
|
mavlink_msg_gps_status_get_satellite_snr(msg, gps_status->satellite_snr); |
|
}
|
|
|